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add cloth demo to show deformable friction

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This commit is contained in:
Xuchen Han
2019-09-19 16:38:45 -07:00
parent 55ebafc755
commit 0501fe1bbd
8 changed files with 333 additions and 22 deletions
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2
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -24,7 +24,7 @@ btDeformableBodySolver::btDeformableBodySolver()
, m_cg(20)
, m_maxNewtonIterations(3)
, m_newtonTolerance(1e-4)
, m_lineSearch(true)
, m_lineSearch(false)
{
m_objective = new btDeformableBackwardEulerObjective(m_softBodies, m_backupVelocity);
}

2
src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
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@@ -23,7 +23,7 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration
///this is a special step to resolve penetrations (just for contacts)
solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
// m_maxOverrideNumSolverIterations = 150;
m_maxOverrideNumSolverIterations = 150;
int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
for (int iteration = 0; iteration < maxIterations; iteration++)
{

10
src/BulletSoftBody/btSoftBodyInternals.h
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@@ -1314,7 +1314,15 @@ struct btSoftColliders
return;
btVector3 rayEnd = dir.normalized() * (l + 2*mrg);
// register an intersection if the line segment formed by the trajectory of the node in the timestep intersects the face
bool intersect = lineIntersectsTriangle(btVector3(0,0,0), rayEnd, face->m_n[0]->m_x-o, face->m_n[1]->m_x-o, face->m_n[2]->m_x-o, p, normal);
btVector3 v0 = face->m_n[0]->m_x;
btVector3 v1 = face->m_n[1]->m_x;
btVector3 v2 = face->m_n[2]->m_x;
btVector3 vc = (v0+v1+v2)/3.;
btScalar scale = 2;
btVector3 u0 = vc + (v0-vc)*scale;
btVector3 u1 = vc + (v1-vc)*scale;
btVector3 u2 = vc + (v2-vc)*scale;
bool intersect = lineIntersectsTriangle(btVector3(0,0,0), rayEnd, u0-o, u1-o, u2-o, p, normal);
if (intersect)
{